From fea663899859c670686cb2ae66f606bc88908923 Mon Sep 17 00:00:00 2001 From: Maksim Drachov Date: Wed, 3 Jan 2024 12:47:14 +0000 Subject: [PATCH] replace YAKUT_PATH with CYPHAL_PATH --- docs/pages/demo.rst | 19 +++++-------------- 1 file changed, 5 insertions(+), 14 deletions(-) diff --git a/docs/pages/demo.rst b/docs/pages/demo.rst index 35ed3d3a..98693b7b 100644 --- a/docs/pages/demo.rst +++ b/docs/pages/demo.rst @@ -226,20 +226,11 @@ You will need to open a couple of new terminal sessions now. If you don't have Yakut installed on your system yet, install it now by following its documentation. -Yakut requires us to compile our DSDL namespaces beforehand using ``yakut compile``: +Yakut (also) needs to know where the DSDL files are located, this is done via the ``CYPHAL_PATH`` environment variable: .. code-block:: sh - cd ~/pycyphal-demo - yakut compile custom_data_types/sirius_cyber_corp public_regulated_data_types/uavcan -O .cyphal - -The outputs will be stored in ``.cyphal``. -If you decided to change the working directory or move the compilation outputs, -make sure to export the ``YAKUT_PATH`` environment variable pointing to the correct location: - -.. code-block:: sh - - export YAKUT_PATH="$HOME/pycyphal-demo/.cyphal" + export CYPHAL_PATH="$HOME/pycyphal-demo/custom_data_types:$HOME/pycyphal-demo/public_regulated_data_types" The commands shown later need to operate on the same network as the demo. Earlier we configured the demo to use Cyphal/UDP via the localhost interface. @@ -254,7 +245,7 @@ launch the following in a new terminal and leave it running (``y`` is a convenie .. code-block:: sh - export YAKUT_PATH="$HOME/pycyphal-demo/.cyphal" + export CYPHAL_PATH="$HOME/pycyphal-demo/custom_data_types:$HOME/pycyphal-demo/public_regulated_data_types" export UAVCAN__UDP__IFACE=127.0.0.1 y sub --with-metadata uavcan.node.heartbeat uavcan.diagnostic.record # You should see heartbeats @@ -263,7 +254,7 @@ Launch another subscriber to see the published voltage command (it is not going .. code-block:: sh - export YAKUT_PATH="$HOME/pycyphal-demo/.cyphal" + export CYPHAL_PATH="$HOME/pycyphal-demo/custom_data_types:$HOME/pycyphal-demo/public_regulated_data_types" export UAVCAN__UDP__IFACE=127.0.0.1 y sub 2347:uavcan.si.unit.voltage.scalar --redraw # Prints nothing. @@ -271,7 +262,7 @@ And publish the setpoint along with the measurement (process variable): .. code-block:: sh - export YAKUT_PATH="$HOME/pycyphal-demo/.cyphal" + export CYPHAL_PATH="$HOME/pycyphal-demo/custom_data_types:$HOME/pycyphal-demo/public_regulated_data_types" export UAVCAN__UDP__IFACE=127.0.0.1 export UAVCAN__NODE__ID=111 # We need a node-ID to publish messages properly y pub --count=10 2345:uavcan.si.unit.temperature.scalar 250 \